Config improvements, added firmware upload capability

.gitignore

@@ -52,5 +52,5 @@ user_config.pri
 thirdParty/qserialport-build-desktop/
 thirdParty/qserialport/bin/
 thirdParty/qserialport/lib/
-apmplanner2.xcodeproj/
 GeneratedFiles/
+/qupgrade/

qgroundcontrol.pro

@@ -142,6 +142,27 @@ INCLUDEPATH += \
 
 include(src/apps/mavlinkgen/mavlinkgen.pri)
 
+# Include QUpgrade tool
+exists(qupgrade) {
+    SOURCES += qupgrade/src/apps/qupgrade/qgcfirmwareupgradeworker.cpp \
+               qupgrade/src/apps/qupgrade/uploader.cpp \
+               qupgrade/src/apps/qupgrade/dialog_bare.cpp
+
+    HEADERS += qupgrade/src/apps/qupgrade/qgcfirmwareupgradeworker.h \
+               qupgrade/src/apps/qupgrade/uploader.h \
+               qupgrade/src/apps/qupgrade/dialog_bare.h
+
+    FORMS += qupgrade/src/apps/qupgrade/dialog_bare.ui
+
+    linux*:CONFIG += qesp_linux_udev
+
+    include(qupgrade/libs/qextserialport/src/qextserialport.pri)
+
+    INCLUDEPATH += qupgrade/src/apps/qupgrade
+
+    DEFINES += "QUPGRADE_SUPPORT"
+}
+
 # Include QWT plotting library
 include(libs/qwt/qwt.pri)
 
@@ -153,12 +174,6 @@ INCLUDEPATH += .
 # Include serial port library (QSerialPort)
 include(libs/serialport/qserialport.pri)
 
-## Serial port detection (ripped-off from qextserialport library)
-#macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
-#linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-#linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-#win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
-
 # Input
 FORMS += src/ui/MainWindow.ui \
     src/ui/CommSettings.ui \

src/comm/SerialLink.cc

@@ -157,18 +157,20 @@ void SerialLink::run()
     int linkErrorCount = 0;
 
     forever  {
+        {
         QMutexLocker locker(&this->m_stoppMutex);
-        if(m_stopp) {
-            m_stopp = false;
-            break; // exit the thread
-        }
+            if(m_stopp) {
+                m_stopp = false;
+                break; // exit the thread
+            }
 
-        if (m_reqReset) {
-            m_reqReset = false;
-            emit communicationUpdate(getName(),"Reset requested via DTR signal");
-            m_port->setDataTerminalReady(true);
-            msleep(250);
-            m_port->setDataTerminalReady(false);
+            if (m_reqReset) {
+                m_reqReset = false;
+                emit communicationUpdate(getName(),"Reset requested via DTR signal");
+                m_port->setDataTerminalReady(true);
+                msleep(250);
+                m_port->setDataTerminalReady(false);
+            }
         }
 
         if (isConnected() && (linkErrorCount > 100)) {

src/uas/QGCUASParamManager.cc

@@ -48,7 +48,10 @@ void QGCUASParamManager::clearAllPendingParams()
     paramDataModel.clearAllPendingParams();
 }
 
-
+QList<int> QGCUASParamManager::getComponentForParam(const QString& parameter) const
+{
+    return paramDataModel.getComponentForOnboardParam(parameter);
+}
 
 
 bool QGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const

src/uas/QGCUASParamManager.h

@@ -23,9 +23,32 @@ public:
     /** @brief Get the known, confirmed value of a parameter */
     virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
 
+    /**
+     * @brief Get a list of all component IDs using this parameter name
+     * @param parameter The string encoding the parameter name
+     * @return A list with all components using this parameter name. Can be empty.
+     */
+    virtual QList<int> getComponentForParam(const QString& parameter) const;
+
     /** @brief Provide tooltips / user-visible descriptions for parameters */
     virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs);
 
+    /**
+     * @brief Count the pending parameters in the current transmission
+     * @return The number of pending parameters
+     */
+    virtual int countPendingParams() {
+        return paramDataModel.countPendingParams();
+    }
+
+    /**
+     * @brief Count the number of onboard parameters
+     * @return The number of onboard parameters
+     */
+    virtual int countOnboardParams() {
+        return paramDataModel.countOnboardParams();
+    }
+
     /** @brief Get the UAS of this widget
      * @return The MAV of this mgr. Unless the MAV object has been destroyed, this is never null.
      */

src/uas/UASParameterDataModel.cc

@@ -192,6 +192,19 @@ bool UASParameterDataModel::getOnboardParamValue(int componentId, const QString&
     return false;
 }
 
+QList<int> UASParameterDataModel::getComponentForOnboardParam(const QString& parameter) const
+{
+    QList<int> components;
+    // Iterate through all components
+    foreach (int comp, onboardParameters.keys())
+    {
+        if (onboardParameters.value(comp)->contains(parameter))
+            components.append(comp);
+    }
+
+    return components;
+}
+
 void UASParameterDataModel::forgetAllOnboardParams()
 {
     onboardParameters.clear();

src/uas/UASParameterDataModel.h

@@ -34,7 +34,12 @@ public:
       */
     virtual void addComponent(int compId);
 
-
+    /**
+     * @brief Return a list of all components for this parameter name
+     * @param parameter The parameter string to search for
+     * @return A list with all components, can be potentially empty
+     */
+    virtual QList<int> getComponentForOnboardParam(const QString& parameter) const;
 
     /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
     virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);

src/ui/QGCPX4VehicleConfig.cc

@@ -11,6 +11,7 @@
 #include <QDir>
 #include <QXmlStreamReader>
 #include <QMessageBox>
+#include <QLabel>
 
 #include "QGCPX4VehicleConfig.h"
 
@@ -21,12 +22,14 @@
 #include "UASParameterCommsMgr.h"
 #include "ui_QGCPX4VehicleConfig.h"
 #include "px4_configuration/QGCPX4AirframeConfig.h"
+#include <dialog_bare.h>
 
-#define WIDGET_INDEX_RC 0
-#define WIDGET_INDEX_SENSOR_CAL 1
-#define WIDGET_INDEX_AIRFRAME_CONFIG 2
-#define WIDGET_INDEX_GENERAL_CONFIG 3
-#define WIDGET_INDEX_ADV_CONFIG 4
+#define WIDGET_INDEX_FIRMWARE 0
+#define WIDGET_INDEX_RC 1
+#define WIDGET_INDEX_SENSOR_CAL 2
+#define WIDGET_INDEX_AIRFRAME_CONFIG 3
+#define WIDGET_INDEX_GENERAL_CONFIG 4
+#define WIDGET_INDEX_ADV_CONFIG 5
 
 #define MIN_PWM_VAL 800
 #define MAX_PWM_VAL 2200
@@ -48,6 +51,9 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     rc_mode(RC_MODE_NONE),
     calibrationEnabled(false),
     px4AirframeConfig(NULL),
+    #ifdef QUPGRADE_SUPPORT
+    firmwareDialog(NULL),
+    #endif
     ui(new Ui::QGCPX4VehicleConfig)
 {
     doneLoadingConfig = false;
@@ -71,6 +77,17 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     px4AirframeConfig = new QGCPX4AirframeConfig(this);
     ui->airframeLayout->addWidget(px4AirframeConfig);
 
+#ifdef QUPGRADE_SUPPORT
+    firmwareDialog = new DialogBare(this);
+    ui->firmwareLayout->addWidget(firmwareDialog);
+#else
+#error Please check out QUpgrade from http://github.com/LorenzMeier/qupgrade/ into the QGroundControl folder.
+
+    QLabel* label = new QLabel(this);
+    label->setText("THIS VERSION OF QGROUNDCONTROL WAS BUILT WITHOUT QUPGRADE. To enable firmware upload support, checkout QUpgrade WITHIN the QGroundControl folder");
+    ui->firmwareLayout->addWidget(label);
+#endif
+
     ui->rollWidget->setOrientation(Qt::Horizontal);
     ui->rollWidget->setName("Roll");
     ui->yawWidget->setOrientation(Qt::Horizontal);
@@ -91,6 +108,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
     connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));
     connect(ui->airframeMenuButton, SIGNAL(clicked()), this, SLOT(airframeMenuButtonClicked()));
+    connect(ui->firmwareMenuButton, SIGNAL(clicked()), this, SLOT(firmwareButtonClicked()));
 
     ui->rcCalibrationButton->setCheckable(true);
     connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
@@ -176,6 +194,11 @@ void QGCPX4VehicleConfig::airframeMenuButtonClicked()
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_AIRFRAME_CONFIG);
 }
 
+void QGCPX4VehicleConfig::firmwareMenuButtonClicked()
+{
+    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_FIRMWARE);
+}
+
 void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
 {
     if (chanCount == 0)
@@ -1089,7 +1112,7 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
 
             channelWanted = -1;
 
-            // Reject
+            // Confirm found channel
             QMessageBox msgBox;
             msgBox.setText(tr("%1 Channel found.").arg(channelNames[chanFound]));
             msgBox.setInformativeText(tr("Found %1 to be on the raw RC channel %2").arg(channelNames[chanFound]).arg(chan + 1));

src/ui/QGCPX4VehicleConfig.h

@@ -13,6 +13,7 @@
 #include "px4_configuration/QGCPX4AirframeConfig.h"
 
 class UASParameterCommsMgr;
+class DialogBare;
 
 namespace Ui {
 class QGCPX4VehicleConfig;
@@ -40,6 +41,8 @@ public slots:
     void generalMenuButtonClicked();
     void advancedMenuButtonClicked();
     void airframeMenuButtonClicked();
+    void firmwareMenuButtonClicked();
+
     void identifyChannelMapping(int aert_index);
 
     /** Set the MAV currently being calibrated */
@@ -248,6 +251,7 @@ protected:
     QMap<QString,QString> paramTooltips;                                ///< Tooltips for the ? button next to a parameter.
 
     QGCPX4AirframeConfig* px4AirframeConfig;
+    DialogBare* firmwareDialog;
 
 private:
     Ui::QGCPX4VehicleConfig *ui;

src/ui/QGCPX4VehicleConfig.ui

@@ -52,6 +52,14 @@
          <property name="sizeConstraint">
           <enum>QLayout::SetMinAndMaxSize</enum>
          </property>
+         <item>
+          <widget class="QPushButton" name="firmwareMenuButton">
+           <property name="text">
+            <string>Firmware
+Upgrade</string>
+           </property>
+          </widget>
+         </item>
          <item>
           <widget class="QPushButton" name="rcMenuButton">
            <property name="minimumSize">
@@ -146,8 +154,19 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>1</number>
+        <number>0</number>
        </property>
+       <widget class="QWidget" name="firmwareTab">
+        <layout class="QVBoxLayout" name="firmwareLayout">
+         <item>
+          <widget class="QLabel" name="label_5">
+           <property name="text">
+            <string>Firmware Upgrade</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
        <widget class="QWidget" name="rcTab">
         <layout class="QVBoxLayout" name="verticalLayout_17">
          <item>

src/ui/px4_configuration/QGCPX4AirframeConfig.cc

+#include <QMessageBox>
+
 #include "QGCPX4AirframeConfig.h"
 #include "ui_QGCPX4AirframeConfig.h"
 
@@ -7,6 +9,7 @@
 QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) :
     QWidget(parent),
     mav(NULL),
+    selectedId(-1),
     ui(new Ui::QGCPX4AirframeConfig)
 {
     ui->setupUi(this);
@@ -62,23 +65,73 @@ void QGCPX4AirframeConfig::setActiveUAS(UASInterface* uas)
 
 void QGCPX4AirframeConfig::setAirframeID(int id)
 {
-    // If UAS is present, get param manager and set SYS_AUTOSTART ID
-    if (!mav)
-        return;
-
-    mav->getParamManager()->setParameter(0, "SYS_AUTOSTART", (qint32)id);
+    selectedId = id;
 }
 
 void QGCPX4AirframeConfig::applyAndReboot()
 {
-    UAS* uas = qobject_cast<UAS*>(mav);
+    // Guard against the case of an edit where we didn't receive all params yet
+    if (selectedId < 0)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(tr("No airframe selected"));
+        msgBox.setInformativeText(tr("Please select an airframe first."));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        (void)msgBox.exec();
+
+        return;
+    }
+
+    if (!mav)
+        return;
+
+    if (mav->getParamManager()->countOnboardParams() == 0 &&
+            mav->getParamManager()->countPendingParams() == 0)
+    {
+        mav->getParamManager()->requestParameterListIfEmpty();
+        QGC::SLEEP::msleep(100);
+    }
+
+    // Guard against the case of an edit where we didn't receive all params yet
+    if (mav->getParamManager()->countPendingParams() > 0)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(tr("Parameter sync with UAS not yet complete"));
+        msgBox.setInformativeText(tr("Please wait a few moments and retry"));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        (void)msgBox.exec();
 
-    if (!uas)
         return;
+    }
+
+    QList<int> components = mav->getParamManager()->getComponentForParam("SYS_AUTOSTART");
+
+    // Guard against multiple components responding - this will never show in practice
+    if (components.count() != 1) {
+        QMessageBox msgBox;
+        msgBox.setText(tr("Invalid system setup detected"));
+        msgBox.setInformativeText(tr("None or more than one component advertised to provide the main system configuration option. This is an invalid system setup - please check your autopilot."));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        (void)msgBox.exec();
+
+        return;
+    }
+
+    qDebug() << "Setting comp" << components.first() << "SYS_AUTOSTART" << (qint32)selectedId;
+
+    mav->getParamManager()->setParameter(components.first(), "SYS_AUTOSTART", (qint32)selectedId);
+
+    // Send pending params
+    mav->getParamManager()->sendPendingParameters();
+    QGC::SLEEP::msleep(300);
     // Store parameters
-    uas->executeCommand(MAV_CMD_PREFLIGHT_STORAGE, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
+    mav->getParamManager()->copyVolatileParamsToPersistent();
+    QGC::SLEEP::msleep(500);
     // Reboot
-    uas->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
+    mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
 }
 
 void QGCPX4AirframeConfig::setAutoConfig(bool enabled)

src/ui/px4_configuration/QGCPX4AirframeConfig.h

@@ -75,6 +75,7 @@ protected:
     
 private:
     UASInterface* mav;
+    int selectedId;
     Ui::QGCPX4AirframeConfig *ui;
 };